<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: registration/include/pcl/registration/default_convergence_criteria.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('default__convergence__criteria_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">default_convergence_criteria.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/eigen.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/correspondence.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/convergence_criteria.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html">   65</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html">DefaultConvergenceCriteria</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_convergence_criteria.html">ConvergenceCriteria</a></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;DefaultConvergenceCriteria&lt;Scalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const DefaultConvergenceCriteria&lt;Scalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typedef</span> Eigen::Matrix&lt;Scalar, 4, 4&gt; Matrix4;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">enum</span> ConvergenceState</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          CONVERGENCE_CRITERIA_NOT_CONVERGED,</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          CONVERGENCE_CRITERIA_ITERATIONS,</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          CONVERGENCE_CRITERIA_TRANSFORM,</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          CONVERGENCE_CRITERIA_ABS_MSE,</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          CONVERGENCE_CRITERIA_REL_MSE,</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          CONVERGENCE_CRITERIA_NO_CORRESPONDENCES</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        };</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a1d38271b1b9abafd6a0b14ccee346c08">   94</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a1d38271b1b9abafd6a0b14ccee346c08">DefaultConvergenceCriteria</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> &amp;iterations, <span class="keyword">const</span> Matrix4 &amp;transform, <span class="keyword">const</span> pcl::Correspondences &amp;correspondences)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          : <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5c4798a891fd194927c6c5bacfcd35af">iterations_</a> (iterations)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a2318257a84e663a1cf7ef694a89aa25c">transformation_</a> (transform)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a599456356e647fb385523f0660ae9569">correspondences_</a> (correspondences)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aee76f5b94e1415500bdace09aab6bc47">correspondences_prev_mse_</a> (std::numeric_limits&lt;double&gt;::max ())</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a1a9b10bb8d05cd7e8c1ed67a612af227">correspondences_cur_mse_</a> (std::numeric_limits&lt;double&gt;::max ())</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a67204183600575362789d8e5bf6a33c7">max_iterations_</a> (100)                 <span class="comment">// 100 iterations</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ad638c67114687c49f4f2d4fdf0f3f75a">failure_after_max_iter_</a> (false)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aea294cd3daa63127d4230280f15509d9">rotation_threshold_</a> (0.99999)         <span class="comment">// 0.256 degrees</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a7df811255c4264f3569f2c812abbc8f7">translation_threshold_</a> (3e-4 * 3e-4)  <span class="comment">// 0.0003 meters</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aebfbc8c5443ffec37aaa3a735db7f479">mse_threshold_relative_</a> (0.00001)     <span class="comment">// 0.001% of the previous MSE (relative error)</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a94d8d4f4820d53c59b8893c8f6eb7845">mse_threshold_absolute_</a> (1e-12)       <span class="comment">// MSE (absolute error)</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a0b5cc87b7d5ccbb14b74d24b22d0c7b7">iterations_similar_transforms_</a> (0)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#af7ad260338d3dabd78c5bc3ea886914b">max_iterations_similar_transforms_</a> (0)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          , <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a014306c885752b9fd19079f570dd20e3">convergence_state_</a> (CONVERGENCE_CRITERIA_NOT_CONVERGED)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      </div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a6ba345101e37eedd0edb92a4928b396e">  113</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a6ba345101e37eedd0edb92a4928b396e">~DefaultConvergenceCriteria</a> () {}</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a69ea6a9c7cb745017a08b8bc0e45eff4">  120</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a69ea6a9c7cb745017a08b8bc0e45eff4">setMaximumIterationsSimilarTransforms</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> nr_iterations) { <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#af7ad260338d3dabd78c5bc3ea886914b">max_iterations_similar_transforms_</a> = nr_iterations; }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ab4192fc61604e364b5faf212d2a428c3">  126</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ab4192fc61604e364b5faf212d2a428c3">getMaximumIterationsSimilarTransforms</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#af7ad260338d3dabd78c5bc3ea886914b">max_iterations_similar_transforms_</a>); }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a551e8e512beef03d81cc64d0f598f147">  132</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a551e8e512beef03d81cc64d0f598f147">setMaximumIterations</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> nr_iterations) { <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a67204183600575362789d8e5bf6a33c7">max_iterations_</a> = nr_iterations; }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a11237b354ba3e07a400325c16fed8523">  136</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a11237b354ba3e07a400325c16fed8523">getMaximumIterations</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a67204183600575362789d8e5bf6a33c7">max_iterations_</a>); }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ace30f3cde1dfb1a63e0c0deac84083fe">  142</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ace30f3cde1dfb1a63e0c0deac84083fe">setFailureAfterMaximumIterations</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> failure_after_max_iter) { <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ad638c67114687c49f4f2d4fdf0f3f75a">failure_after_max_iter_</a> = failure_after_max_iter; }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5ddf2d9957c228a7de44024ffef82456">  146</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5ddf2d9957c228a7de44024ffef82456">getFailureAfterMaximumIterations</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ad638c67114687c49f4f2d4fdf0f3f75a">failure_after_max_iter_</a>); }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a8c2718468e3f2f219dcbeab172982d84">  152</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a8c2718468e3f2f219dcbeab172982d84">setRotationThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> threshold) { <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aea294cd3daa63127d4230280f15509d9">rotation_threshold_</a> = threshold; }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#af862f17b53a068b23a4f27ff5bd3379b">  157</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#af862f17b53a068b23a4f27ff5bd3379b">getRotationThreshold</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aea294cd3daa63127d4230280f15509d9">rotation_threshold_</a>); }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5d3085bb14b4a881acb7da2670573815">  163</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5d3085bb14b4a881acb7da2670573815">setTranslationThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> threshold) { <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a7df811255c4264f3569f2c812abbc8f7">translation_threshold_</a> = threshold; }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aa1ec6b6d90ee37a6e72337d25ac59f94">  168</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aa1ec6b6d90ee37a6e72337d25ac59f94">getTranslationThreshold</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a7df811255c4264f3569f2c812abbc8f7">translation_threshold_</a>); }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5f7261d61ed08afcb5e69b85d29371c1">  174</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5f7261d61ed08afcb5e69b85d29371c1">setRelativeMSE</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> mse_relative) { <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aebfbc8c5443ffec37aaa3a735db7f479">mse_threshold_relative_</a> = mse_relative; }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ad0df120e947e45b9b9867da9c8ebb9a1">  178</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ad0df120e947e45b9b9867da9c8ebb9a1">getRelativeMSE</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aebfbc8c5443ffec37aaa3a735db7f479">mse_threshold_relative_</a>); }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a290ffd43753d70d66b15cd54e7b089be">  184</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a290ffd43753d70d66b15cd54e7b089be">setAbsoluteMSE</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> mse_absolute) { <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a94d8d4f4820d53c59b8893c8f6eb7845">mse_threshold_absolute_</a> = mse_absolute; }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a700cd1931c15a10d46724fe04465c686">  188</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a700cd1931c15a10d46724fe04465c686">getAbsoluteMSE</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a94d8d4f4820d53c59b8893c8f6eb7845">mse_threshold_absolute_</a>); }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#adf5b7159af38f430d1ca543c7ea83838">hasConverged</a> ();</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        ConvergenceState</div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aa904602d1ff7e9d6515316af8f07d7da">  197</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aa904602d1ff7e9d6515316af8f07d7da">getConvergenceState</a> ()</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a014306c885752b9fd19079f570dd20e3">convergence_state_</a>);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a1351fb32104e835226a859ff32242b9c">  208</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a1351fb32104e835226a859ff32242b9c">setConvergenceState</a>(ConvergenceState c)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a014306c885752b9fd19079f570dd20e3">convergence_state_</a> = c;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ac33b546c401ca10a785999e745fb1df2">  219</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ac33b546c401ca10a785999e745fb1df2">calculateMSE</a> (<span class="keyword">const</span> pcl::Correspondences &amp;correspondences)<span class="keyword"> const</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          <span class="keywordtype">double</span> mse = 0;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; correspondences.size (); ++i)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            mse += correspondences[i].distance;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          mse /= double (correspondences.size ());</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          <span class="keywordflow">return</span> (mse);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5c4798a891fd194927c6c5bacfcd35af">  229</a></span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> &amp;<a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5c4798a891fd194927c6c5bacfcd35af">iterations_</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a2318257a84e663a1cf7ef694a89aa25c">  232</a></span>&#160;        <span class="keyword">const</span> Matrix4 &amp;<a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a2318257a84e663a1cf7ef694a89aa25c">transformation_</a>;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a599456356e647fb385523f0660ae9569">  235</a></span>&#160;        <span class="keyword">const</span> pcl::Correspondences &amp;<a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a599456356e647fb385523f0660ae9569">correspondences_</a>;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aee76f5b94e1415500bdace09aab6bc47">  238</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aee76f5b94e1415500bdace09aab6bc47">correspondences_prev_mse_</a>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a1a9b10bb8d05cd7e8c1ed67a612af227">  241</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a1a9b10bb8d05cd7e8c1ed67a612af227">correspondences_cur_mse_</a>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a67204183600575362789d8e5bf6a33c7">  244</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a67204183600575362789d8e5bf6a33c7">max_iterations_</a>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ad638c67114687c49f4f2d4fdf0f3f75a">  247</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ad638c67114687c49f4f2d4fdf0f3f75a">failure_after_max_iter_</a>;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aea294cd3daa63127d4230280f15509d9">  250</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aea294cd3daa63127d4230280f15509d9">rotation_threshold_</a>;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a7df811255c4264f3569f2c812abbc8f7">  253</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a7df811255c4264f3569f2c812abbc8f7">translation_threshold_</a>;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aebfbc8c5443ffec37aaa3a735db7f479">  256</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aebfbc8c5443ffec37aaa3a735db7f479">mse_threshold_relative_</a>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a94d8d4f4820d53c59b8893c8f6eb7845">  259</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a94d8d4f4820d53c59b8893c8f6eb7845">mse_threshold_absolute_</a>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a0b5cc87b7d5ccbb14b74d24b22d0c7b7">  263</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a0b5cc87b7d5ccbb14b74d24b22d0c7b7">iterations_similar_transforms_</a>;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#af7ad260338d3dabd78c5bc3ea886914b">  267</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#af7ad260338d3dabd78c5bc3ea886914b">max_iterations_similar_transforms_</a>;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a014306c885752b9fd19079f570dd20e3">  270</a></span>&#160;        ConvergenceState <a class="code" href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a014306c885752b9fd19079f570dd20e3">convergence_state_</a>;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;     };</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;}</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/default_convergence_criteria.hpp&gt;</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_H_</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_convergence_criteria_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_convergence_criteria.html">pcl::registration::ConvergenceCriteria</a></div><div class="ttdoc">ConvergenceCriteria represents an abstract base class for different convergence criteria used in regi...</div><div class="ttdef"><b>Definition:</b> convergence_criteria.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html">pcl::registration::DefaultConvergenceCriteria</a></div><div class="ttdoc">DefaultConvergenceCriteria represents an instantiation of ConvergenceCriteria, and implements the fol...</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a014306c885752b9fd19079f570dd20e3"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a014306c885752b9fd19079f570dd20e3">pcl::registration::DefaultConvergenceCriteria::convergence_state_</a></div><div class="ttdeci">ConvergenceState convergence_state_</div><div class="ttdoc">The state of the convergence (e.g., why did the registration converge).</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:270</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a0b5cc87b7d5ccbb14b74d24b22d0c7b7"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a0b5cc87b7d5ccbb14b74d24b22d0c7b7">pcl::registration::DefaultConvergenceCriteria::iterations_similar_transforms_</a></div><div class="ttdeci">int iterations_similar_transforms_</div><div class="ttdoc">Internal counter for the number of iterations that the internal rotation, translation,...</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:263</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a11237b354ba3e07a400325c16fed8523"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a11237b354ba3e07a400325c16fed8523">pcl::registration::DefaultConvergenceCriteria::getMaximumIterations</a></div><div class="ttdeci">int getMaximumIterations() const</div><div class="ttdoc">Get the maximum number of iterations the internal optimization should run for, as set by the user.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a1351fb32104e835226a859ff32242b9c"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a1351fb32104e835226a859ff32242b9c">pcl::registration::DefaultConvergenceCriteria::setConvergenceState</a></div><div class="ttdeci">void setConvergenceState(ConvergenceState c)</div><div class="ttdoc">Sets the convergence state externally (for example, when ICP does not find enough correspondences to ...</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:208</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a1a9b10bb8d05cd7e8c1ed67a612af227"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a1a9b10bb8d05cd7e8c1ed67a612af227">pcl::registration::DefaultConvergenceCriteria::correspondences_cur_mse_</a></div><div class="ttdeci">double correspondences_cur_mse_</div><div class="ttdoc">The MSE for the current set of correspondences.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:241</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a1d38271b1b9abafd6a0b14ccee346c08"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a1d38271b1b9abafd6a0b14ccee346c08">pcl::registration::DefaultConvergenceCriteria::DefaultConvergenceCriteria</a></div><div class="ttdeci">DefaultConvergenceCriteria(const int &amp;iterations, const Matrix4 &amp;transform, const pcl::Correspondences &amp;correspondences)</div><div class="ttdoc">Empty constructor. Sets:</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:94</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a2318257a84e663a1cf7ef694a89aa25c"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a2318257a84e663a1cf7ef694a89aa25c">pcl::registration::DefaultConvergenceCriteria::transformation_</a></div><div class="ttdeci">const Matrix4 &amp; transformation_</div><div class="ttdoc">The current transformation obtained by the transformation estimation method.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:232</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a290ffd43753d70d66b15cd54e7b089be"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a290ffd43753d70d66b15cd54e7b089be">pcl::registration::DefaultConvergenceCriteria::setAbsoluteMSE</a></div><div class="ttdeci">void setAbsoluteMSE(const double mse_absolute)</div><div class="ttdoc">Set the absolute MSE between two consecutive sets of correspondences.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:184</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a551e8e512beef03d81cc64d0f598f147"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a551e8e512beef03d81cc64d0f598f147">pcl::registration::DefaultConvergenceCriteria::setMaximumIterations</a></div><div class="ttdeci">void setMaximumIterations(const int nr_iterations)</div><div class="ttdoc">Set the maximum number of iterations the internal optimization should run for.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a599456356e647fb385523f0660ae9569"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a599456356e647fb385523f0660ae9569">pcl::registration::DefaultConvergenceCriteria::correspondences_</a></div><div class="ttdeci">const pcl::Correspondences &amp; correspondences_</div><div class="ttdoc">The current set of point correspondences between the source and the target.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a5c4798a891fd194927c6c5bacfcd35af"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5c4798a891fd194927c6c5bacfcd35af">pcl::registration::DefaultConvergenceCriteria::iterations_</a></div><div class="ttdeci">const int &amp; iterations_</div><div class="ttdoc">The number of iterations done by the registration loop so far.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a5d3085bb14b4a881acb7da2670573815"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5d3085bb14b4a881acb7da2670573815">pcl::registration::DefaultConvergenceCriteria::setTranslationThreshold</a></div><div class="ttdeci">void setTranslationThreshold(const double threshold)</div><div class="ttdoc">Set the translation threshold (maximum allowable difference between two consecutive transformations) ...</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a5ddf2d9957c228a7de44024ffef82456"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5ddf2d9957c228a7de44024ffef82456">pcl::registration::DefaultConvergenceCriteria::getFailureAfterMaximumIterations</a></div><div class="ttdeci">bool getFailureAfterMaximumIterations() const</div><div class="ttdoc">Get whether the registration will fail or converge when the maximum number of iterations is reached.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:146</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a5f7261d61ed08afcb5e69b85d29371c1"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a5f7261d61ed08afcb5e69b85d29371c1">pcl::registration::DefaultConvergenceCriteria::setRelativeMSE</a></div><div class="ttdeci">void setRelativeMSE(const double mse_relative)</div><div class="ttdoc">Set the relative MSE between two consecutive sets of correspondences.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:174</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a67204183600575362789d8e5bf6a33c7"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a67204183600575362789d8e5bf6a33c7">pcl::registration::DefaultConvergenceCriteria::max_iterations_</a></div><div class="ttdeci">int max_iterations_</div><div class="ttdoc">The maximum nuyyGmber of iterations that the registration loop is to be executed.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:244</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a69ea6a9c7cb745017a08b8bc0e45eff4"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a69ea6a9c7cb745017a08b8bc0e45eff4">pcl::registration::DefaultConvergenceCriteria::setMaximumIterationsSimilarTransforms</a></div><div class="ttdeci">void setMaximumIterationsSimilarTransforms(const int nr_iterations)</div><div class="ttdoc">Set the maximum number of iterations that the internal rotation, translation, and MSE differences are...</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a6ba345101e37eedd0edb92a4928b396e"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a6ba345101e37eedd0edb92a4928b396e">pcl::registration::DefaultConvergenceCriteria::~DefaultConvergenceCriteria</a></div><div class="ttdeci">virtual ~DefaultConvergenceCriteria()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a700cd1931c15a10d46724fe04465c686"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a700cd1931c15a10d46724fe04465c686">pcl::registration::DefaultConvergenceCriteria::getAbsoluteMSE</a></div><div class="ttdeci">double getAbsoluteMSE() const</div><div class="ttdoc">Get the absolute MSE between two consecutive sets of correspondences.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a7df811255c4264f3569f2c812abbc8f7"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a7df811255c4264f3569f2c812abbc8f7">pcl::registration::DefaultConvergenceCriteria::translation_threshold_</a></div><div class="ttdeci">double translation_threshold_</div><div class="ttdoc">The translation threshold is the relative translation between two iterations (0 if no translation).</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:253</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a8c2718468e3f2f219dcbeab172982d84"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a8c2718468e3f2f219dcbeab172982d84">pcl::registration::DefaultConvergenceCriteria::setRotationThreshold</a></div><div class="ttdeci">void setRotationThreshold(const double threshold)</div><div class="ttdoc">Set the rotation threshold cosine angle (maximum allowable difference between two consecutive transfo...</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_a94d8d4f4820d53c59b8893c8f6eb7845"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#a94d8d4f4820d53c59b8893c8f6eb7845">pcl::registration::DefaultConvergenceCriteria::mse_threshold_absolute_</a></div><div class="ttdeci">double mse_threshold_absolute_</div><div class="ttdoc">The absolute change from the previous MSE for the current set of correspondences.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:259</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_aa1ec6b6d90ee37a6e72337d25ac59f94"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aa1ec6b6d90ee37a6e72337d25ac59f94">pcl::registration::DefaultConvergenceCriteria::getTranslationThreshold</a></div><div class="ttdeci">double getTranslationThreshold() const</div><div class="ttdoc">Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transfo...</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_aa904602d1ff7e9d6515316af8f07d7da"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aa904602d1ff7e9d6515316af8f07d7da">pcl::registration::DefaultConvergenceCriteria::getConvergenceState</a></div><div class="ttdeci">ConvergenceState getConvergenceState()</div><div class="ttdoc">Return the convergence state after hasConverged ()</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_ab4192fc61604e364b5faf212d2a428c3"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ab4192fc61604e364b5faf212d2a428c3">pcl::registration::DefaultConvergenceCriteria::getMaximumIterationsSimilarTransforms</a></div><div class="ttdeci">int getMaximumIterationsSimilarTransforms() const</div><div class="ttdoc">Get the maximum number of iterations that the internal rotation, translation, and MSE differences are...</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_ac33b546c401ca10a785999e745fb1df2"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ac33b546c401ca10a785999e745fb1df2">pcl::registration::DefaultConvergenceCriteria::calculateMSE</a></div><div class="ttdeci">double calculateMSE(const pcl::Correspondences &amp;correspondences) const</div><div class="ttdoc">Calculate the mean squared error (MSE) of the distance for a given set of correspondences.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_ace30f3cde1dfb1a63e0c0deac84083fe"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ace30f3cde1dfb1a63e0c0deac84083fe">pcl::registration::DefaultConvergenceCriteria::setFailureAfterMaximumIterations</a></div><div class="ttdeci">void setFailureAfterMaximumIterations(const bool failure_after_max_iter)</div><div class="ttdoc">Specifies if the registration fails or converges when the maximum number of iterations is reached.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:142</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_ad0df120e947e45b9b9867da9c8ebb9a1"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ad0df120e947e45b9b9867da9c8ebb9a1">pcl::registration::DefaultConvergenceCriteria::getRelativeMSE</a></div><div class="ttdeci">double getRelativeMSE() const</div><div class="ttdoc">Get the relative MSE between two consecutive sets of correspondences.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_ad638c67114687c49f4f2d4fdf0f3f75a"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#ad638c67114687c49f4f2d4fdf0f3f75a">pcl::registration::DefaultConvergenceCriteria::failure_after_max_iter_</a></div><div class="ttdeci">bool failure_after_max_iter_</div><div class="ttdoc">Specifys if the registration fails or converges when the maximum number of iterations is reached.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:247</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_adf5b7159af38f430d1ca543c7ea83838"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#adf5b7159af38f430d1ca543c7ea83838">pcl::registration::DefaultConvergenceCriteria::hasConverged</a></div><div class="ttdeci">virtual bool hasConverged()</div><div class="ttdoc">Check if convergence has been reached.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_aea294cd3daa63127d4230280f15509d9"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aea294cd3daa63127d4230280f15509d9">pcl::registration::DefaultConvergenceCriteria::rotation_threshold_</a></div><div class="ttdeci">double rotation_threshold_</div><div class="ttdoc">The rotation threshold is the relative rotation between two iterations (as angle cosine).</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:250</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_aebfbc8c5443ffec37aaa3a735db7f479"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aebfbc8c5443ffec37aaa3a735db7f479">pcl::registration::DefaultConvergenceCriteria::mse_threshold_relative_</a></div><div class="ttdeci">double mse_threshold_relative_</div><div class="ttdoc">The relative change from the previous MSE for the current set of correspondences, e....</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:256</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_aee76f5b94e1415500bdace09aab6bc47"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#aee76f5b94e1415500bdace09aab6bc47">pcl::registration::DefaultConvergenceCriteria::correspondences_prev_mse_</a></div><div class="ttdeci">double correspondences_prev_mse_</div><div class="ttdoc">The MSE for the previous set of correspondences.</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_af7ad260338d3dabd78c5bc3ea886914b"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#af7ad260338d3dabd78c5bc3ea886914b">pcl::registration::DefaultConvergenceCriteria::max_iterations_similar_transforms_</a></div><div class="ttdeci">int max_iterations_similar_transforms_</div><div class="ttdoc">The maximum number of iterations that the internal rotation, translation, and MSE differences are all...</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:267</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_default_convergence_criteria_html_af862f17b53a068b23a4f27ff5bd3379b"><div class="ttname"><a href="classpcl_1_1registration_1_1_default_convergence_criteria.html#af862f17b53a068b23a4f27ff5bd3379b">pcl::registration::DefaultConvergenceCriteria::getRotationThreshold</a></div><div class="ttdeci">double getRotationThreshold() const</div><div class="ttdoc">Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transfo...</div><div class="ttdef"><b>Definition:</b> default_convergence_criteria.h:157</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_05a7d3fa63398329a063418701e459b8.html">registration</a></li><li class="navelem"><a class="el" href="dir_4ae07afb78675be4cbd22b293e4a6696.html">include</a></li><li class="navelem"><a class="el" href="dir_2fef8963f1cfbd0f6472a197f46a93e4.html">pcl</a></li><li class="navelem"><a class="el" href="dir_003a12cd6c43fd0e3458933fbdf52053.html">registration</a></li><li class="navelem"><b>default_convergence_criteria.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
